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Commit d0abbc44 authored by Enno Maschke's avatar Enno Maschke
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Add Static AEB System Config & E2E test

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sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml 0 → 100644
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<?xml version='1.0' encoding='UTF-8'?>
<Profiles SchemaVersion="0.5.1">
<AgentProfiles>
<AgentProfile Name="Ego" Type="Static">
<System>
<File>Agent_AEB.xml</File>
<Id>0</Id>
</System>
<VehicleModel>Ego</VehicleModel>
</AgentProfile>
</AgentProfiles>
<VehicleProfiles>
</VehicleProfiles>
<ProfileGroup Type="Driver"/>
<ProfileGroup Type="TrafficRules">
<Profile Name="DE">
<Double Key="OpenSpeedLimit" Value="INF"/>
<Double Key="OpenSpeedLimitTrucks" Value="22.2222222"/>
<Double Key="OpenSpeedLimitBuses" Value="27.7777777"/>
<Bool Key="KeepToOuterLanes" Value="true"/>
<Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
<Bool Key="FormRescueLane" Value="true"/>
<Bool Key="ZipperMerge" Value="true"/>
</Profile>
</ProfileGroup>
</Profiles>
sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Scenario.xosc 0 → 100644
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<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="1" date="2020-06-26T00:17:00" description="ADAS_Static_AEB_PreventingCollisionWithObstacle" author="in-tech GmbH"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
<Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
<Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
</ControllerCatalog>
<ManeuverCatalog>
<Directory path=""/>
</ManeuverCatalog>
<MiscObjectCatalog>
<Directory path=""/>
</MiscObjectCatalog>
<EnvironmentCatalog>
<Directory path=""/>
</EnvironmentCatalog>
<TrajectoryCatalog>
<Directory path=""/>
</TrajectoryCatalog>
<RouteCatalog>
<Directory path=""/>
</RouteCatalog>
</CatalogLocations>
<RoadNetwork>
<LogicFile filepath="SceneryConfiguration.xodr"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
<CatalogReference catalogName="VehicleCatalog" entryName="Ego"/>
<ObjectController>
<Controller name="Ego">
<Properties>
<Property name="AgentProfile" value="Ego"/>
</Properties>
</Controller>
</ObjectController>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<Private entityRef="Ego">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0">
<Orientation type="relative"/>
</LanePosition>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<ActivateControllerAction lateral="true" longitudinal="true" controllerRef="Ego"/>
</ControllerAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="">
<Act name="">
<ManeuverGroup name="" maximumExecutionCount="1">
<Actors selectTriggeringEntities="false"/>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0.0" rule="greaterOrEqual"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="30.0" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/SceneryConfiguration.xodr 0 → 100644
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<OpenDRIVE>
<header date="Thu Feb 8 14:24:06 2007" east="2.0000000000000000e+003" name="Testfile" north="2.0000000000000000e+003" revMajor="1" revMinor="1" south="-2.0000000000000000e+003" version="1" west="-2.0000000000000000e+003"/>
<road id="1" junction="-1" length="5139.7188686309819" name="">
<link/>
<planView>
<geometry hdg="0" length="3000" s="0.0000000000000000e+000" x="0" y="7.5">
<line/>
</geometry>
</planView>
<elevationProfile/>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<left/>
<center>
<lane id="0" level="true" type="border">
<link>
<successor id="0"/>
</link>
<roadMark color="standard" laneChange="both" sOffset="0" type="solid" weight="standard" width="0.12"/>
</lane>
</center>
<right>
<lane id="-1" level="true" type="driving">
<link>
<successor id="-1"/>
</link>
<width a="3.75" b="0" c="0" d="0" sOffset="0"/>
<roadMark color="standard" laneChange="both" sOffset="0" type="solid" weight="standard" width="0.12"/>
</lane>
</right>
</laneSection>
</lanes>
<objects>
<object hdg="0" height="1.0" id="" length="0.80" name="Absperrung" orientation="-" pitch="0" roll="0" s="300.0" t="-2.0" type="obstacle" validLength="0" width="3.0" zOffset="0"/>
</objects>
<signals/>
</road>
</OpenDRIVE>
sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Vehicles/VehicleModelsCatalog.xosc 0 → 100644
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− 0
View file @ d0abbc44
<?xml version="1.0" encoding="UTF-8"?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-01-01T00:00:00" description="openPASS vehicle models" author="openPASS"/>
<Catalog name="VehicleCatalog">
<Vehicle model3d="Ego" mass="1920" name="Ego" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="3.789"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
<Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.07"/>
<Property name="GearRatio1" value="4.154"/>
<Property name="GearRatio2" value="2.45"/>
<Property name="GearRatio3" value="1.557"/>
<Property name="GearRatio4" value="1.09"/>
<Property name="GearRatio5" value="0.843"/>
<Property name="GearRatio6" value="0.675"/>
<Property name="GearRatio7" value="0.547"/>
<Property name="Mass" value="1235.0"/>
<Property name="MaximumEngineSpeed" value="6000.0"/>
<Property name="MaximumEngineTorque" value="220.0"/>
<Property name="MinimumEngineSpeed" value="900.0"/>
<Property name="MinimumEngineTorque" value="-54.0"/>
<Property name="MomentInertiaPitch" value="0.0"/>
<Property name="MomentInertiaRoll" value="0.0"/>
<Property name="MomentInertiaYaw" value="0.0"/>
<Property name="NumberOfGears" value="7"/>
<Property name="SteeringRatio" value="10.7"/>
</Properties>
<BoundingBox>
<Center x="1.35" y="0.0" z="0.71"/>
<Dimensions width="1.89" length="3.8" height="1.42"/>
</BoundingBox>
<Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
</Axles>
</Vehicle>
</Catalog>
</OpenSCENARIO>
sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/simulationConfig.xml 0 → 100644
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<simulationConfig SchemaVersion="0.8.2">
<ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
<Experiment>
<ExperimentID>123</ExperimentID>
<NumberOfInvocations>50</NumberOfInvocations>
<RandomSeed>531206</RandomSeed>
<Libraries>
<WorldLibrary>World_OSI</WorldLibrary>
</Libraries>
</Experiment>
<Scenario>
<OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
</Scenario>
<Environment>
<TimeOfDays>
<TimeOfDay Probability="1.0" Value="15"/>
</TimeOfDays>
<VisibilityDistances>
<VisibilityDistance Probability="1.0" Value="400"/>
</VisibilityDistances>
<Frictions>
<Friction Probability="1.0" Value="1.0"/>
</Frictions>
<Weathers>
<Weather Probability="1.0" Value="Rainy"/>
</Weathers>
<TrafficRules>DE</TrafficRules>
</Environment>
<Observations>
<Observation>
<Library>Observation_Log</Library>
<Parameters>
<String Key="OutputFilename" Value="simulationOutput.xml"/>
<Bool Key="LoggingCyclicsToCsv" Value="false"/>
<StringVector Key="LoggingGroup_Trace" Value="XPosition,YPosition,YawAngle"/>
<StringVector Key="LoggingGroup_RoadPosition" Value="AgentInFront,Lane,PositionRoute,Road,TCoordinate"/>
<StringVector Key="LoggingGroup_RoadPositionExtended" Value="SecondaryLanes"/>
<StringVector Key="LoggingGroup_Sensor" Value="Sensor*_DetectedAgents,Sensor*_VisibleAgents"/>
<StringVector Key="LoggingGroup_Vehicle" Value="AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"/>
<StringVector Key="LoggingGroup_Visualization" Value="AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"/>
<StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor"/>
</Parameters>
</Observation>
</Observations>
<Spawners/>
</simulationConfig>
sim/tests/endToEndTests/test_end_to_end.json
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− 0
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......@@ -79,6 +79,9 @@
],
"ADAS_AEB_PreventingCollisionWithObstacle": [
"ADAS_AEB_PreventingCollisionWithObstacle"
],
"ADAS_Static_AEB_PreventingCollisionWithObstacle": [
"ADAS_Static_AEB_PreventingCollisionWithObstacle"
],
"ADAS_AEB_PreventingCollisionWithObstacleInCurve": [
"ADAS_AEB_PreventingCollisionWithObstacleInCurve"
......@@ -162,6 +165,18 @@
"mean(VelocityEgo | AgentId == 0 and PositionRoute > 285 and PositionRoute < 295) < 28.5"
],
"success_rate": 1
},
"ADAS_Static_AEB": {
"config_sets": [
"ADAS_Static_AEB_PreventingCollisionWithObstacle"
],
"duration": 30,
"invocations": 1,
"description": "Static AEB Acting stage triggers with obstacle",
"queries": [
"count(AgentId | #(Algorithm_AutonomousEmergencyBraking):ComponentState=='Acting') >= 1"
],
"success_rate": 1
},
"ADAS_AEB_InCurve": {
"config_sets": [
......
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